From 6169c4f93ba648d266d85c4d832490094d213e7f Mon Sep 17 00:00:00 2001
From: Ka Ru <ka_ru2003@msn.com>
Date: Sun, 22 Oct 2023 19:50:57 +0200
Subject: [PATCH] add can-zero board
---
.github/workflows/test_linux_sbc.yml | 3 ++-
Tools/ardupilotwaf/boards.py | 13 +++++++++++++
Tools/scripts/board_list.py | 1 +
Tools/scripts/firmware_version_decoder.py | 1 +
libraries/AP_HAL/AP_HAL_Boards.h | 1 +
libraries/AP_HAL/board/linux.h | 17 ++++++++++++++++-
libraries/AP_HAL_Linux/GPIO.h | 4 +++-
libraries/AP_HAL_Linux/GPIO_RPI.cpp | 3 ++-
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp | 14 ++++++++++----
libraries/AP_HAL_Linux/RCInput_RPI.cpp | 3 ++-
libraries/AP_HAL_Linux/SPIDevice.cpp | 7 ++++++-
libraries/AP_HAL_Linux/Scheduler.cpp | 3 ++-
libraries/AP_HAL_Linux/Util_RPI.cpp | 3 ++-
libraries/AP_Notify/AP_Notify.cpp | 6 ++++--
14 files changed, 65 insertions(+), 14 deletions(-)
diff --git a/.github/workflows/test_linux_sbc.yml b/.github/workflows/test_linux_sbc.yml
index 1c2259f3532a18..531a1356b86794 100644
--- a/.github/workflows/test_linux_sbc.yml
+++ b/.github/workflows/test_linux_sbc.yml
@@ -149,7 +149,8 @@ jobs:
bebop,
erlebrain2,
pxfmini,
- pxf
+ pxf,
+ canzero,
]
toolchain: [
armhf,
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 26e88c1b1621d0..e8af3ae6e28481 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -1505,6 +1505,19 @@ def configure_env(self, cfg, env):
CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_OBAL_V1',
)
+class canzero(linux):
+ toolchain = 'arm-linux-gnueabihf'
+
+ def __init__(self):
+ self.with_can = True
+
+ def configure_env(self, cfg, env):
+ super(canzero, self).configure_env(cfg, env)
+
+ env.DEFINES.update(
+ CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_CANZERO',
+ )
+
class SITL_static(sitl):
def configure_env(self, cfg, env):
super(SITL_static, self).configure_env(cfg, env)
diff --git a/Tools/scripts/board_list.py b/Tools/scripts/board_list.py
index 52235fdb0e4d54..ab92794673821a 100755
--- a/Tools/scripts/board_list.py
+++ b/Tools/scripts/board_list.py
@@ -70,6 +70,7 @@ def __init__(self):
Board("bbbmini"),
Board("blue"),
Board("pxfmini"),
+ Board("canzero"),
Board("SITL_x86_64_linux_gnu"),
Board("SITL_arm_linux_gnueabihf"),
]
diff --git a/Tools/scripts/firmware_version_decoder.py b/Tools/scripts/firmware_version_decoder.py
index a0be1928dfc785..cf3321701490d7 100755
--- a/Tools/scripts/firmware_version_decoder.py
+++ b/Tools/scripts/firmware_version_decoder.py
@@ -68,6 +68,7 @@ class BoardSubType(enum.Enum):
LINUX_NAVIGATOR = 1023
LINUX_VNAV = 1024
LINUX_OBAL = 1025
+ LINUX_CANZERO = 1026
CHIBIOS_SKYVIPER_F412 = 5000
CHIBIOS_FMUV3 = 5001
CHIBIOS_FMUV4 = 5002
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 7337e3dcbefd12..a6ef45740f161b 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -42,6 +42,7 @@
#define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR 1023
#define HAL_BOARD_SUBTYPE_LINUX_VNAV 1024
#define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 1025
+#define HAL_BOARD_SUBTYPE_LINUX_CANZERO 1026
/* HAL CHIBIOS sub-types, starting at 5000
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 5709bbeb0bc074..d06cb6bb46b440 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -286,7 +286,22 @@
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
-
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+ #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
+ #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
+ #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
+ #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+ #define HAL_NUM_CAN_IFACES 1
+ #define HAL_CAN_DRIVER_DEFAULT 1
+ #define HAL_GPIO_A_LED_PIN 22
+ #define HAL_GPIO_B_LED_PIN 27
+ #define HAL_GPIO_C_LED_PIN 6
+ #define HAL_GPIO_LED_ON 0
+ #define HAL_GPIO_LED_OFF 1
+ #define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
+ #define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
+ #define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
+ #define HAL_DEFAULT_INS_FAST_SAMPLE 0
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
//#define HAL_BARO_ALLOW_INIT_NO_BARO
diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
index 0281c14be6ede4..08c46f8dc216c3 100644
--- a/libraries/AP_HAL_Linux/GPIO.h
+++ b/libraries/AP_HAL_Linux/GPIO.h
@@ -28,7 +28,9 @@ class DigitalSource : public AP_HAL::DigitalSource {
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+
#include "GPIO_RPI.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
#include "GPIO_Navigator.h"
diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
index 58cf04d0f34041..ba09ce762f978d 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -5,7 +5,8 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#include <assert.h>
#include <errno.h>
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index ba68930e89a786..2ccf92581975c0 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -57,7 +57,8 @@ using namespace Linux;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static UtilRPI utilInstance;
#else
static Util utilInstance;
@@ -90,7 +91,8 @@ static UARTDriver uartBDriver(false);
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
- ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1))
+ ((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static AnalogIn_ADS1115 analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
@@ -123,7 +125,8 @@ static GPIO_BBB gpioDriver;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static GPIO_Navigator gpioDriver;
@@ -154,7 +157,8 @@ static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NU
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
@@ -219,6 +223,8 @@ static RCOutput_Sysfs rcoutDriver(0, 0, 15);
static RCOutput_Sysfs rcoutDriver(0, 0, 8);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+static RCOutput_Sysfs rcoutDriver(0, 0, 2);
#else
static Empty::RCOutput rcoutDriver;
#endif
diff --git a/libraries/AP_HAL_Linux/RCInput_RPI.cpp b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
index d53ce57ea7d625..0ebe3d44764412 100644
--- a/libraries/AP_HAL_Linux/RCInput_RPI.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
@@ -5,7 +5,8 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#include <assert.h>
#include <errno.h>
#include <fcntl.h>
diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp
index 4d3e922561e236..0ae5ae42acb0fa 100644
--- a/libraries/AP_HAL_Linux/SPIDevice.cpp
+++ b/libraries/AP_HAL_Linux/SPIDevice.cpp
@@ -92,11 +92,16 @@ SPIDesc SPIDeviceManager::_device[] = {
#endif
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*KHZ, 10*MHZ),
};
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+SPIDesc SPIDeviceManager::_device[] = {
+ SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
+ SPIDesc("ms5611", 0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 10*MHZ, 10*MHZ),
+};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDesc SPIDeviceManager::_device[] = {
SPIDesc("mpu9250", 2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index b8a8f48706a549..b018fb1b25ea2e 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -37,7 +37,8 @@ extern const AP_HAL::HAL& hal;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#define APM_LINUX_RCIN_RATE 500
#define APM_LINUX_IO_RATE 50
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
diff --git a/libraries/AP_HAL_Linux/Util_RPI.cpp b/libraries/AP_HAL_Linux/Util_RPI.cpp
index 4575a7dccc828d..cb54dbf26d70ea 100644
--- a/libraries/AP_HAL_Linux/Util_RPI.cpp
+++ b/libraries/AP_HAL_Linux/Util_RPI.cpp
@@ -8,7 +8,8 @@
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#include <errno.h>
#include <stdarg.h>
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index c24defb4953328..3a1f13159000eb 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -104,7 +104,8 @@ AP_Notify *AP_Notify::_singleton;
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
#define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
@@ -430,7 +431,8 @@ void AP_Notify::add_backends(void)
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ || \
- CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
+ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
// No noise makers, keep this though to ensure that the final else is safe
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \